def talker():
pub = rospy.Publisher('WeCookDispatch', TaskMsg, queue_size=10)
rospy.init_node('wecook_fruit_jelly', anonymous=True)
scene_msg = SceneMsg([ObjectMsg('table0',
'package://wecook_assets/data/furniture/table.urdf',
[0.5, 0.0, 0.0, 0., 0., 0., 1.]),
ObjectMsg('pot0',
'package://wecook_assets/data/objects/pot_s.urdf',
[0.55, -0.25, 0.73, 0., 0., 0., 1.]),
ObjectMsg('pan',
'package://wecook_assets/data/objects/pan.urdf',
[0.4, -0.45, 0.73, 0., 0., 0., 1.]),
ObjectMsg('food_item0',
'package://wecook_assets/data/food/food_item1.urdf',
[0.3, 0.4, 0.72, 0., 0., 0., 1.]),
ObjectMsg('roller0',
'package://wecook_assets/data/objects/roller.urdf',
[0.3, 0.5, 0.83, 0., 0., 0., 1.])],
# ObjectMsg('cooker0',
# 'package://wecook_assets/data/objects/cooker.urdf',
# [-0.55, 0, 0.45, 0., 0., 0., 1])],
[])
task_msg = TaskMsg(scene_msg, [ActionMsg(['p1'], 'roll', [], 'roller0', ['food_item0'])])
# sleeping 10 seconds to publish
rospy.sleep(1)
pub.publish(task_msg)
def talker():
pub = rospy.Publisher('WeCookDispatch', TaskMsg, queue_size=10)
rospy.init_node('wecook_fruit_jelly', anonymous=True)
scene_msg = SceneMsg(
[
ObjectMsg('table0',
'package://wecook_assets/data/furniture/table.urdf',
[0.5, 0.0, 0.0, 0., 0., 0., 1.]),
ObjectMsg('pot0', 'package://wecook_assets/data/objects/pot.urdf',
[0.35, 0.2, 0.73, 0., 0., 0., 1.]),
ObjectMsg('spoon1',
'package://wecook_assets/data/objects/spoon.urdf',
[0.15, -0.55, 0.75, 0, 0., 0, 1.]),
ObjectMsg('food_item0',
'package://wecook_assets/data/food/food_item1.urdf',
[0.3, 0.4, 0.75, 0., 0., 0., 1.]),
ObjectMsg('bowl0',
'package://wecook_assets/data/objects/bowl.urdf',
[0.3, 0.4, 0.73, 0., 0., 0., 1])
],
# ObjectMsg('cooker0',
# 'package://wecook_assets/data/objects/cooker.urdf',
# [-0.55, 0, 0.45, 0., 0., 0., 1])],
[ContainingMsg(['bowl0', 'food_item0'])])
task_msg = TaskMsg(scene_msg, [
ActionMsg(['p1'], 'transfer', ['bowl0', 'pot0'], 'bowl0',
['food_item0']),
ActionMsg(['p2'], 'stir', ['pot0'], 'spoon1', ['food_item0'])
])
# sleeping 10 seconds to publish
rospy.sleep(1)
pub.publish(task_msg)
def talker():
pub = rospy.Publisher('WeCookDispatch', TaskMsg, queue_size=10)
rospy.init_node('wecook_fruit_jelly', anonymous=True)
scene_msg = SceneMsg(
[
ObjectMsg('table0',
'package://wecook_assets/data/furniture/table.urdf',
[0.5, 0.0, 0.0, 0., 0., 0., 1.]),
ObjectMsg('plate1',
'package://wecook_assets/data/objects/plate.urdf',
[0.3, -0.0, 0.73, 0., 0., 0., 1.]),
ObjectMsg('knife0',
'package://wecook_assets/data/objects/knife.urdf',
[0.15, 0.55, 0.78, 0., 0, 0., 1.]),
ObjectMsg('knife1',
'package://wecook_assets/data/objects/knife.urdf',
[0.15, -0.55, 0.78, 0., 0, 0., 1.]),
ObjectMsg('spoon1',
'package://wecook_assets/data/objects/spoon.urdf',
[0.30, -0.50, 0.78, 0, 0., 0, 1.]),
ObjectMsg(
'chopping_board0',
'package://wecook_assets/data/objects/chopping_board.urdf',
[0.5, -0.35, 0.73, 0, 0, 0., 1.]),
ObjectMsg('food_item0',
'package://wecook_assets/data/food/food_item2.urdf',
[0.4, -0.4, 0.75, 0., 0., 0., 1.]),
ObjectMsg('food_item1',
'package://wecook_assets/data/food/food_item2.urdf',
[0.45, -0.45, 0.75, 0., 0., 0., 1.]),
ObjectMsg('food_item3',
'package://wecook_assets/data/food/food_item0.urdf',
[0.3, -0., 0.75, 0., 0., 0., 1.]),
ObjectMsg('spoon0',
'package://wecook_assets/data/objects/spoon.urdf',
[0.30, 0.50, 0.78, 0, 0., 0, 1.]),
ObjectMsg('knifeHolder0',
'package://wecook_assets/data/objects/holder.urdf',
[0.25, 0.55, 0.73, 0., 0., 0., 1]),
ObjectMsg('spoonHolder0',
'package://wecook_assets/data/objects/holder.urdf',
[0.25, 0.50, 0.73, 0., 0., 0., 1]),
ObjectMsg('knifeHolder1',
'package://wecook_assets/data/objects/holder.urdf',
[0.25, -0.55, 0.73, 0., 0., 0., 1]),
ObjectMsg('spoonHolder1',
'package://wecook_assets/data/objects/holder.urdf',
[0.25, -0.50, 0.73, 0., 0., 0., 1])
],
# ObjectMsg('cooker0',
# 'package://wecook_assets/data/objects/cooker.urdf',
# [-0.55, 0, 0.45, 0., 0., 0., 1])],
[
ContainingMsg(['chopping_board0', 'food_item0']),
ContainingMsg(['chopping_board0', 'food_item1']),
ContainingMsg(['plate1', 'food_item3'])
])
task_msg = TaskMsg(
scene_msg,
[ActionMsg(['p2', 'p1'], 'handover', ['air'], 'hand', ['food_item0'])])
# sleeping 10 seconds to publish
rospy.sleep(1)
pub.publish(task_msg)
def talker():
pub = rospy.Publisher('WeCookDispatch', TaskMsg, queue_size=10)
rospy.init_node('wecook_chicken_pasta', anonymous=True)
scene_msg = SceneMsg([
ObjectMsg('wall0', 'package://wecook_assets/data/furniture/wall.urdf',
[0.75, 0.05, 0., 0., 0., 0., 1.]),
ObjectMsg('wall1', 'package://wecook_assets/data/furniture/wall.urdf',
[-0.85, 1.45, 0., 0., 0., 0.707, 0.707]),
ObjectMsg(
'counter0',
'package://wecook_assets/data/furniture/kitchen_counter.urdf',
[0.3, 0., 0., 0., 0., 0., 1.]),
ObjectMsg(
'counter1',
'package://wecook_assets/data/furniture/kitchen_counter.urdf',
[0., 1.0, 0., 0., 0., 0.707, 0.707]),
ObjectMsg('sink0',
'package://wecook_assets/data/furniture/sink_counter.urdf',
[-1.3, 1.05, 0., 0., 0., 0.707, 0.707]),
ObjectMsg('shelf0',
'package://wecook_assets/data/furniture/bookcase.urdf',
[0.3, -1.05, 0., 0., 0., 0., 1.]),
ObjectMsg('stove0', 'package://wecook_assets/data/objects/stove.urdf',
[-0.35, 0.95, 0.75, 0., 0., 0., 1.]),
ObjectMsg('pot0',
'package://wecook_assets/data/objects/cooking_pot.urdf',
[0.35, 1.1, 0.75, 0., 0., 0., 1.]),
ObjectMsg('skillet0',
'package://wecook_assets/data/objects/skillet.urdf',
[0.3, 0.7, 0.75, 0., 0., -0.707, .707]),
ObjectMsg('cutting_board0',
'package://wecook_assets/data/objects/cutting_board.urdf',
[0.3, -0.3, 0.75, 0., 0., 0., 1.]),
ObjectMsg('knife0',
'package://wecook_assets/data/objects/knife_big.urdf',
[0.215, -0.55, 0.775, 0., 0., 0., 1.]),
ObjectMsg('plate0', 'package://wecook_assets/data/objects/plate.urdf',
[0.3, 0.075, 0.75, 0., 0., 0., 1.]),
ObjectMsg('bowl0',
'package://wecook_assets/data/objects/bowl_green.urdf',
[0.45, 0.375, 0.75, 0., 0., 0., 1.]),
ObjectMsg('bowl1',
'package://wecook_assets/data/objects/bowl_green.urdf',
[0.15, 0.375, 0.75, 0., 0., 0., 1.]),
ObjectMsg('oil0',
'package://wecook_assets/data/objects/olive_oil.urdf',
[0., 1.15, 0.75, 0., 0., 0.707, 0.707]),
ObjectMsg('salt0', 'package://wecook_assets/data/objects/salt.urdf',
[0., 1.0, 0.75, 0., 0., 0.707, 0.707]),
ObjectMsg('pepper0',
'package://wecook_assets/data/objects/black_pepper.urdf',
[0., 0.9, 0.75, 0., 0., 0.707, 0.707]),
ObjectMsg('chicken0', 'package://wecook_assets/data/food/chicken.urdf',
[0.3, 0.075, 0.757, 0., 0., 0., 1.]),
ObjectMsg('lime0', 'package://wecook_assets/data/food/lime.urdf',
[0.3, -0.3, 0.757, 0., 0., 0., 1.]),
ObjectMsg('pasta0', 'package://wecook_assets/data/food/pasta.urdf',
[0.45, 0.375, 0.757, 0., 0., 0., 1.])
], [
ContainingMsg(['plate0', 'chicken0']),
ContainingMsg(['bowl0', 'pasta0'])
])
task_msg = TaskMsg(
scene_msg,
[ActionMsg(['p1'], 'cut', ['cutting_board0'], 'knife0', ['lime0'])], [
AgentMsg('p1', 'r', [0., 0., 0.75, 0., 0., 0., 1.]),
AgentMsg('p2', 'h', [-0.5, 0.25, 1.00, 0., 0., 0.707, 0.707])
], "", "", "follow", "RRTConnect", True)
# sleeping 10 seconds to publish
rospy.sleep(1)
pub.publish(task_msg)
def talker():
pub = rospy.Publisher('WeCookDispatch', TaskMsg, queue_size=10)
rospy.init_node('wecook_ham_sandwich', anonymous=True)
scene_msg = SceneMsg([
ObjectMsg('wall0', 'package://wecook_assets/data/furniture/wall.urdf',
[1.3, 0.15, 0., 0., 0., 0., 1.]),
ObjectMsg('wall1', 'package://wecook_assets/data/furniture/wall.urdf',
[-0.3, 1.55, 0., 0., 0., 0.707, 0.707]),
ObjectMsg(
'counter0',
'package://wecook_assets/data/furniture/kitchen_counter.urdf',
[0.55, -0.3, 0., 0., 0., -0.707, 0.707]),
ObjectMsg(
'counter1',
'package://wecook_assets/data/furniture/kitchen_counter.urdf',
[0.55, 1.1, 0., 0., 0., 0.707, 0.707]),
ObjectMsg('sink0',
'package://wecook_assets/data/furniture/sink_counter.urdf',
[-0.75, 1.125, 0., 0., 0., 0.707, 0.707]),
ObjectMsg('shelf0',
'package://wecook_assets/data/furniture/bookcase.urdf',
[-0.75, -0.45, 0., 0., 0., 0.707, 0.707]),
ObjectMsg('stove0', 'package://wecook_assets/data/objects/stove.urdf',
[0.9, -0.3, 0.75, 0., 0., 1., 0.]),
ObjectMsg('toaster0',
'package://wecook_assets/data/objects/toaster.urdf',
[0.7, 1.25, 0.775, 0., 0., 0., 1.]),
ObjectMsg('skillet0',
'package://wecook_assets/data/objects/skillet.urdf',
[0.9, 0.9, 0.75, 0., 0., 0., 1.]),
ObjectMsg('cutting_board0',
'package://wecook_assets/data/objects/cutting_board.urdf',
[0.3, 0.95, 0.75, 0., 0., -0.707, 0.707]),
ObjectMsg('knife0',
'package://wecook_assets/data/objects/knife_big.urdf',
[0.6, 0.85, 0.775, 0., 0., 0.707, 0.707]),
ObjectMsg('brush0', 'package://wecook_assets/data/objects/brush.urdf',
[0.525, 0.95, 0.75, 0.707, 0., 0., 0.707]),
ObjectMsg('plate0', 'package://wecook_assets/data/objects/plate.urdf',
[0.05, -0.3, 0.75, 0., 0., 0., 1.]),
ObjectMsg('plate1', 'package://wecook_assets/data/objects/plate.urdf',
[0.3, -0.15, 0.75, 0., 0., 0., 1.]),
ObjectMsg('plate2', 'package://wecook_assets/data/objects/plate.urdf',
[0.3, -0.45, 0.75, 0., 0., 0., 1.]),
ObjectMsg('bowl0',
'package://wecook_assets/data/objects/bowl_green.urdf',
[0.3, 1.25, 0.75, 0., 0., 0., 1.]),
ObjectMsg('oil0',
'package://wecook_assets/data/objects/olive_oil.urdf',
[0., 1.15, 0.75, 0., 0., 0.707, 0.707]),
ObjectMsg('salt0', 'package://wecook_assets/data/objects/salt.urdf',
[0., 1.0, 0.75, 0., 0., 0.707, 0.707]),
ObjectMsg('bread0',
'package://wecook_assets/data/food/bread_slice.urdf',
[0.05, -0.25, 0.765, 0., 0., 0., 1.]),
ObjectMsg('bread1',
'package://wecook_assets/data/food/bread_slice.urdf',
[0.05, -0.35, 0.765, 0., 0., 0., 1.]),
ObjectMsg('cheese0',
'package://wecook_assets/data/food/cheese_slice.urdf',
[0.25, -0.15, 0.765, 0., 0., 0., 1.]),
ObjectMsg('cheese1',
'package://wecook_assets/data/food/cheese_slice.urdf',
[0.35, -0.15, 0.765, 0., 0., 0., 1.]),
ObjectMsg('ham0', 'package://wecook_assets/data/food/ham_slice.urdf',
[0.35, -0.45, 0.765, 0., 0., 0., 1.]),
ObjectMsg('ham1', 'package://wecook_assets/data/food/ham_slice.urdf',
[0.25, -0.45, 0.765, 0., 0., 0., 1.]),
ObjectMsg('butter0', 'package://wecook_assets/data/food/butter.urdf',
[0.3, 1.25, 0.765, 0., 0., 0., 1.])
], [
ContainingMsg(['plate0', 'bread0']),
ContainingMsg(['plate1', 'cheese0'])
])
task_msg = TaskMsg(
scene_msg,
[ActionMsg(['p1'], 'stir', ['bowl0'], 'brush0', ['butter0'])],
[AgentMsg('p1', 'r', [0., 0.85, 0.75, 0., 0., 0., 0.])], "", "",
"follow", "RRTConnect", True)
# sleeping 10 seconds to publish
rospy.sleep(1)
pub.publish(task_msg)
def talker():
pub = rospy.Publisher('WeCookDispatch', TaskMsg, queue_size=10)
rospy.init_node('wecook_fruit_jelly', anonymous=True)
scene_msg = SceneMsg([
ObjectMsg('table0',
'package://wecook_assets/data/furniture/table.urdf',
[0.5, 0.0, 0.0, 0., 0., 0., 1.]),
ObjectMsg('oil0', 'package://wecook_assets/data/objects/oil.urdf',
[0.2, -0.95, 0.87, 0., 0., 0., 1.]),
ObjectMsg('plant0', 'package://wecook_assets/data/objects/plant.urdf',
[0.65, -0.75, 0.73, 0., 0., 0., 1.]),
ObjectMsg('plate1', 'package://wecook_assets/data/objects/plate.urdf',
[0.2, -0.15, 0.73, 0., 0., 0., 1.]),
ObjectMsg('plate0', 'package://wecook_assets/data/objects/plate.urdf',
[0.2, 0.2, 0.73, 0., 0., 0., 1.]),
ObjectMsg('bowl0', 'package://wecook_assets/data/objects/tbowl.urdf',
[0.4, 0.0, 0.73, 0., 0., 0., 1.]),
ObjectMsg('shelf0',
'package://wecook_assets/data/furniture/shelf.urdf',
[0., -1.10, 0.65, 0., 0., 0., 1.]),
ObjectMsg('knife1', 'package://wecook_assets/data/objects/knife.urdf',
[0.18, -0.55, 0.78, 0., 0, 0., 1.]),
ObjectMsg('knifeHolder1',
'package://wecook_assets/data/objects/holder.urdf',
[0.25, -0.55, 0.73, 0., 0., 0., 1]),
ObjectMsg('knife0', 'package://wecook_assets/data/objects/knife.urdf',
[0.18, 0.65, 0.78, 0., 0, 0., 1.]),
ObjectMsg('knifeHolder0',
'package://wecook_assets/data/objects/holder.urdf',
[0.25, 0.65, 0.73, 0., 0., 0., 1]),
ObjectMsg('cooker0',
'package://wecook_assets/data/objects/cooker.urdf',
[-0.8, 0., 0.86, 0., 0., 0., 1.]),
ObjectMsg('spoon1', 'package://wecook_assets/data/objects/spoon.urdf',
[0.3, -0.4, 0.78, 0, -0.7073, 0, 0.7073883]),
ObjectMsg('food_item1',
'package://wecook_assets/data/food/food_item0.urdf',
[0.2, -0.15, 0.75, 0., 0., 0., 1.]),
ObjectMsg('food_item0',
'package://wecook_assets/data/food/food_item1.urdf',
[0.2, 0.2, 0.75, 0., 0., 0., 1.]),
ObjectMsg('spoonHolder1',
'package://wecook_assets/data/objects/holder.urdf',
[0.25, -0.4, 0.73, 0., 0., 0., 1]),
ObjectMsg('spoon0', 'package://wecook_assets/data/objects/spoon.urdf',
[0.3, 0.45, 0.78, 0, -0.7073, 0, 0.7073883]),
ObjectMsg('spoonHolder0',
'package://wecook_assets/data/objects/holder.urdf',
[0.25, 0.45, 0.73, 0., 0., 0., 1])
], [
ContainingMsg(['plate1', 'food_item1']),
ContainingMsg(['plate0', 'food_item0'])
])
task_msg = TaskMsg(scene_msg, [
ActionMsg(['p2'], 'cut', ['plate1'], 'knife1', ['food_item1']),
ActionMsg(['p1', 'p2'], 'holding_plate0_transfer', ['plate0', 'bowl0'],
'spoon1', ['food_item0']),
ActionMsg(['p2'], 'stir', ['bowl0'], 'spoon1', ['food_item0']),
ActionMsg(['p1', 'p2'], 'holding_plate1_transfer', ['plate1', 'bowl0'],
'spoon1', ['food_item1']),
ActionMsg(['p2'], 'stir', ['bowl0'], 'spoon1',
['food_item0', 'food_item1']),
ActionMsg(['p1'], 'stir', ['bowl0'], 'spoon0',
['food_item0', 'food_item1'])
], [
AgentMsg('p1', 'r', [-0.2, 0.15, 0.7, 0., 0., 0.7071068, 0.7071068]),
AgentMsg('p2', 'r', [-0.2, -0.2, 0.7, 0., 0., 0.7071068, 0.7071068])
], "", "", "follow", "RRTConnect", True)
# sleeping 10 seconds to publish
rospy.sleep(1)
pub.publish(task_msg)
def talker():
pub = rospy.Publisher('WeCookDispatch', TaskMsg, queue_size=10)
rospy.init_node('wecook_mass_verde_2777', anonymous=True)
scene_msg = SceneMsg([ObjectMsg('table0',
'package://wecook_assets/data/furniture/table.urdf',
[0.5, 0.0, 0.0, 0., 0., 0., 1.]),
ObjectMsg('oil0',
'package://wecook_assets/data/objects/oil.urdf',
[0.2, -0.95, 0.87, 0., 0., 0., 1.]),
ObjectMsg('shelf0',
'package://wecook_assets/data/furniture/shelf.urdf',
[0., -1.10, 0.65, 0., 0., 0., 1.]),
ObjectMsg('plant0',
'package://wecook_assets/data/objects/plant.urdf',
[0.65, -0.75, 0.73, 0., 0., 0., 1.]),
ObjectMsg('bowl0',
'package://wecook_assets/data/objects/bowl.urdf',
[0.5, -0.45, 0.73, 0., 0., 0., 1.]),
ObjectMsg('bowl1',
'package://wecook_assets/data/objects/bowl.urdf',
[0.6, -0.6, 0.73, 0., 0., 0., 1.]),
ObjectMsg('knife0',
'package://wecook_assets/data/objects/knife.urdf',
[0.18, 0.65, 0.78, 0., 0, 0., 1.]),
ObjectMsg('knifeHolder0',
'package://wecook_assets/data/objects/holder.urdf',
[0.25, 0.65, 0.73, 0., 0., 0., 1]),
ObjectMsg('cooker0',
'package://wecook_assets/data/objects/cooker.urdf',
[-0.8, 0., 0.86, 0., 0., 0., 1.]),
ObjectMsg('knife1',
'package://wecook_assets/data/objects/knife.urdf',
[0.18, -0.55, 0.78, 0., 0, 0., 1.]),
ObjectMsg('knifeHolder1',
'package://wecook_assets/data/objects/holder.urdf',
[0.25, -0.55, 0.73, 0., 0., 0., 1]),
ObjectMsg('spoon1',
'package://wecook_assets/data/objects/spoon.urdf',
[0.3, -0.4, 0.78, 0, -0.7073, 0, 0.7073883]),
ObjectMsg('spoonHolder1',
'package://wecook_assets/data/objects/holder.urdf',
[0.25, -0.4, 0.73, 0., 0., 0., 1]),
ObjectMsg('chopping_board0',
'package://wecook_assets/data/objects/chopping_board.urdf',
[0.3, -0., 0.73, 0, 0, 0., 1.]),
ObjectMsg('food_item3',
'package://wecook_assets/data/food/food_item0.urdf',
[0.3, -0., 0.75, 0., 0., 0., 1.]),
ObjectMsg('spoon0',
'package://wecook_assets/data/objects/spoon.urdf',
[0.3, 0.45, 0.78, 0, -0.7073, 0, 0.7073883]),
ObjectMsg('spoonHolder0',
'package://wecook_assets/data/objects/holder.urdf',
[0.25, 0.45, 0.73, 0., 0., 0., 1])],
# ObjectMsg('cooker0',
# 'package://wecook_assets/data/objects/cooker.urdf',
# [-0.55, 0, 0.45, 0., 0., 0., 1])],
[ContainingMsg(['chopping_board0', 'food_item3'])])
task_msg = TaskMsg(scene_msg, [ActionMsg(['p2', 'p1'], 'holding_chopping_board0_cut',
['chopping_board0'], 'knife0', ['food_item3'])])
# sleeping 10 seconds to publish
rospy.sleep(1)
pub.publish(task_msg)
def talker():
pub = rospy.Publisher('WeCookDispatch', TaskMsg, queue_size=10)
rospy.init_node('wecook_feeding', anonymous=True)
scene_msg = SceneMsg([
ObjectMsg('table0',
'package://wecook_assets/data/furniture/table.urdf',
[0.5, 0.0, 0.0, 0., 0., 0., 1.]),
ObjectMsg('oil0', 'package://wecook_assets/data/objects/oil.urdf',
[0.2, -0.95, 0.87, 0., 0., 0., 1.]),
ObjectMsg('plant0', 'package://wecook_assets/data/objects/plant.urdf',
[0.65, -0.75, 0.73, 0., 0., 0., 1.]),
ObjectMsg('bowl0', 'package://wecook_assets/data/objects/bowl.urdf',
[0.4, -0.1, 0.73, 0., 0., 0., 1.]),
ObjectMsg('shelf0',
'package://wecook_assets/data/furniture/shelf.urdf',
[0., -1.10, 0.65, 0., 0., 0., 1.]),
ObjectMsg('cooker0',
'package://wecook_assets/data/objects/cooker.urdf',
[-0.8, 0., 0.86, 0., 0., 0., 1.]),
ObjectMsg('food_item0',
'package://wecook_assets/data/food/food_item1.urdf',
[0.4, -0.1, 0.75, 0., 0., 0., 1.]),
ObjectMsg('food_item1',
'package://wecook_assets/data/food/food_item1.urdf',
[0.4, -0.1, 0.75, 0., 0., 0., 1.]),
ObjectMsg('food_item2',
'package://wecook_assets/data/food/food_item1.urdf',
[0.4, -0.1, 0.75, 0., 0., 0., 1.]),
ObjectMsg('food_item3',
'package://wecook_assets/data/food/food_item1.urdf',
[0.4, -0.1, 0.75, 0., 0., 0., 1.]),
ObjectMsg('food_item4',
'package://wecook_assets/data/food/food_item1.urdf',
[0.4, -0.1, 0.75, 0., 0., 0., 1.]),
ObjectMsg('spoon0', 'package://wecook_assets/data/objects/spoon.urdf',
[0.3, -0.5, 0.78, 0, -0.7073, 0, 0.7073883]),
ObjectMsg('spoonHolder0',
'package://wecook_assets/data/objects/holder.urdf',
[0.25, -0.5, 0.73, 0., 0., 0., 1]),
ObjectMsg('mouth0', 'package://wecook_assets/data/human/mouth.urdf',
[0., 0.0, 1.1, 0., 0., 0., 1.])
], [
ContainingMsg(['bowl0', 'food_item0']),
ContainingMsg(['bowl0', 'food_item1']),
ContainingMsg(['bowl0', 'food_item2']),
ContainingMsg(['bowl0', 'food_item3']),
ContainingMsg(['bowl0', 'food_item4'])
])
task_msg = TaskMsg(scene_msg, [
ActionMsg(['p1'], 'feeding', ['bowl0', 'mouth0'], 'spoon0',
['food_item0']),
ActionMsg(['p1'], 'feeding', ['bowl0', 'mouth0'], 'spoon0',
['food_item1']),
ActionMsg(['p1'], 'feeding', ['bowl0', 'mouth0'], 'spoon0',
['food_item2']),
ActionMsg(['p1'], 'feeding', ['bowl0', 'mouth0'], 'spoon0',
['food_item3']),
ActionMsg(['p1'], 'feeding', ['bowl0', 'mouth0'], 'spoon0',
['food_item4'])
], [AgentMsg('p1', 'r', [-0., -0.3, 0.75, 0., 0., 0.7071068, 0.7071068])],
"", "", "follow", "RRTConnect", True)
# sleeping 10 seconds to publish
rospy.sleep(1)
pub.publish(task_msg)